The difference between "kokuso" and "kokuhatsu"

These words are one of the most confusing pairs of words in the Japanese legal lexicon. "Kokuso" is to file a complaint by an aggrieved party, whereas "kokuhatsu" is a charge made by a third party who incurred no damage, in which case the investigative authority is required to indict ("kiso-suru" in Japanese) the perpetrator.